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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 251 252 253 254 255 256 257 258 259 260 261 262 263 264 265 266 267 268 269 270 271 272 273 274 275 276 277 278 279 280 281 282 283 284 285 286 287 288 289 290 291 292 293 294 295 296 297 298 299 300 301 302 303 304 305 306 307 308 309 310 311 312 313 314 315 316 317 318 319 320 321 322 323 324 325 326 327 328 329 330 331 332 333 334 335 336 337 338 339 340 341 342 343 344 345 346 347 348 349 350 351 352 353 354 355 356 357 358 359 360 361 362 363 364 365 366 367 | /* * STMicroelectronics gyroscopes driver * * Copyright 2012-2013 STMicroelectronics Inc. * * Denis Ciocca <denis.ciocca@st.com> * * Licensed under the GPL-2. */ #include <linux/kernel.h> #include <linux/module.h> #include <linux/slab.h> #include <linux/errno.h> #include <linux/types.h> #include <linux/mutex.h> #include <linux/interrupt.h> #include <linux/i2c.h> #include <linux/gpio.h> #include <linux/irq.h> #include <linux/delay.h> #include <linux/iio/iio.h> #include <linux/iio/sysfs.h> #include <linux/iio/trigger.h> #include <linux/iio/buffer.h> #include <linux/iio/common/st_sensors.h> #include "st_gyro.h" /* DEFAULT VALUE FOR SENSORS */ #define ST_GYRO_DEFAULT_OUT_X_L_ADDR 0x28 #define ST_GYRO_DEFAULT_OUT_Y_L_ADDR 0x2a #define ST_GYRO_DEFAULT_OUT_Z_L_ADDR 0x2c /* FULLSCALE */ #define ST_GYRO_FS_AVL_250DPS 250 #define ST_GYRO_FS_AVL_500DPS 500 #define ST_GYRO_FS_AVL_2000DPS 2000 /* CUSTOM VALUES FOR SENSOR 1 */ #define ST_GYRO_1_WAI_EXP 0xd3 #define ST_GYRO_1_ODR_ADDR 0x20 #define ST_GYRO_1_ODR_MASK 0xc0 #define ST_GYRO_1_ODR_AVL_100HZ_VAL 0x00 #define ST_GYRO_1_ODR_AVL_200HZ_VAL 0x01 #define ST_GYRO_1_ODR_AVL_400HZ_VAL 0x02 #define ST_GYRO_1_ODR_AVL_800HZ_VAL 0x03 #define ST_GYRO_1_PW_ADDR 0x20 #define ST_GYRO_1_PW_MASK 0x08 #define ST_GYRO_1_FS_ADDR 0x23 #define ST_GYRO_1_FS_MASK 0x30 #define ST_GYRO_1_FS_AVL_250_VAL 0x00 #define ST_GYRO_1_FS_AVL_500_VAL 0x01 #define ST_GYRO_1_FS_AVL_2000_VAL 0x02 #define ST_GYRO_1_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) #define ST_GYRO_1_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) #define ST_GYRO_1_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) #define ST_GYRO_1_BDU_ADDR 0x23 #define ST_GYRO_1_BDU_MASK 0x80 #define ST_GYRO_1_DRDY_IRQ_ADDR 0x22 #define ST_GYRO_1_DRDY_IRQ_MASK 0x08 #define ST_GYRO_1_MULTIREAD_BIT true /* CUSTOM VALUES FOR SENSOR 2 */ #define ST_GYRO_2_WAI_EXP 0xd4 #define ST_GYRO_2_ODR_ADDR 0x20 #define ST_GYRO_2_ODR_MASK 0xc0 #define ST_GYRO_2_ODR_AVL_95HZ_VAL 0x00 #define ST_GYRO_2_ODR_AVL_190HZ_VAL 0x01 #define ST_GYRO_2_ODR_AVL_380HZ_VAL 0x02 #define ST_GYRO_2_ODR_AVL_760HZ_VAL 0x03 #define ST_GYRO_2_PW_ADDR 0x20 #define ST_GYRO_2_PW_MASK 0x08 #define ST_GYRO_2_FS_ADDR 0x23 #define ST_GYRO_2_FS_MASK 0x30 #define ST_GYRO_2_FS_AVL_250_VAL 0x00 #define ST_GYRO_2_FS_AVL_500_VAL 0x01 #define ST_GYRO_2_FS_AVL_2000_VAL 0x02 #define ST_GYRO_2_FS_AVL_250_GAIN IIO_DEGREE_TO_RAD(8750) #define ST_GYRO_2_FS_AVL_500_GAIN IIO_DEGREE_TO_RAD(17500) #define ST_GYRO_2_FS_AVL_2000_GAIN IIO_DEGREE_TO_RAD(70000) #define ST_GYRO_2_BDU_ADDR 0x23 #define ST_GYRO_2_BDU_MASK 0x80 #define ST_GYRO_2_DRDY_IRQ_ADDR 0x22 #define ST_GYRO_2_DRDY_IRQ_MASK 0x08 #define ST_GYRO_2_MULTIREAD_BIT true static const struct iio_chan_spec st_gyro_16bit_channels[] = { ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_X, IIO_MOD_X, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS, ST_GYRO_DEFAULT_OUT_X_L_ADDR), ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_Y, IIO_MOD_Y, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS, ST_GYRO_DEFAULT_OUT_Y_L_ADDR), ST_SENSORS_LSM_CHANNELS(IIO_ANGL_VEL, ST_SENSORS_SCAN_Z, IIO_MOD_Z, IIO_LE, ST_SENSORS_DEFAULT_16_REALBITS, ST_GYRO_DEFAULT_OUT_Z_L_ADDR), IIO_CHAN_SOFT_TIMESTAMP(3) }; static const struct st_sensors st_gyro_sensors[] = { { .wai = ST_GYRO_1_WAI_EXP, .sensors_supported = { [0] = L3G4200D_GYRO_DEV_NAME, [1] = LSM330DL_GYRO_DEV_NAME, }, .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, .odr = { .addr = ST_GYRO_1_ODR_ADDR, .mask = ST_GYRO_1_ODR_MASK, .odr_avl = { { 100, ST_GYRO_1_ODR_AVL_100HZ_VAL, }, { 200, ST_GYRO_1_ODR_AVL_200HZ_VAL, }, { 400, ST_GYRO_1_ODR_AVL_400HZ_VAL, }, { 800, ST_GYRO_1_ODR_AVL_800HZ_VAL, }, }, }, .pw = { .addr = ST_GYRO_1_PW_ADDR, .mask = ST_GYRO_1_PW_MASK, .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, }, .enable_axis = { .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, .mask = ST_SENSORS_DEFAULT_AXIS_MASK, }, .fs = { .addr = ST_GYRO_1_FS_ADDR, .mask = ST_GYRO_1_FS_MASK, .fs_avl = { [0] = { .num = ST_GYRO_FS_AVL_250DPS, .value = ST_GYRO_1_FS_AVL_250_VAL, .gain = ST_GYRO_1_FS_AVL_250_GAIN, }, [1] = { .num = ST_GYRO_FS_AVL_500DPS, .value = ST_GYRO_1_FS_AVL_500_VAL, .gain = ST_GYRO_1_FS_AVL_500_GAIN, }, [2] = { .num = ST_GYRO_FS_AVL_2000DPS, .value = ST_GYRO_1_FS_AVL_2000_VAL, .gain = ST_GYRO_1_FS_AVL_2000_GAIN, }, }, }, .bdu = { .addr = ST_GYRO_1_BDU_ADDR, .mask = ST_GYRO_1_BDU_MASK, }, .drdy_irq = { .addr = ST_GYRO_1_DRDY_IRQ_ADDR, .mask = ST_GYRO_1_DRDY_IRQ_MASK, }, .multi_read_bit = ST_GYRO_1_MULTIREAD_BIT, .bootime = 2, }, { .wai = ST_GYRO_2_WAI_EXP, .sensors_supported = { [0] = L3GD20_GYRO_DEV_NAME, [1] = LSM330D_GYRO_DEV_NAME, [2] = LSM330DLC_GYRO_DEV_NAME, [3] = L3G4IS_GYRO_DEV_NAME, [4] = LSM330_GYRO_DEV_NAME, }, .ch = (struct iio_chan_spec *)st_gyro_16bit_channels, .odr = { .addr = ST_GYRO_2_ODR_ADDR, .mask = ST_GYRO_2_ODR_MASK, .odr_avl = { { 95, ST_GYRO_2_ODR_AVL_95HZ_VAL, }, { 190, ST_GYRO_2_ODR_AVL_190HZ_VAL, }, { 380, ST_GYRO_2_ODR_AVL_380HZ_VAL, }, { 760, ST_GYRO_2_ODR_AVL_760HZ_VAL, }, }, }, .pw = { .addr = ST_GYRO_2_PW_ADDR, .mask = ST_GYRO_2_PW_MASK, .value_on = ST_SENSORS_DEFAULT_POWER_ON_VALUE, .value_off = ST_SENSORS_DEFAULT_POWER_OFF_VALUE, }, .enable_axis = { .addr = ST_SENSORS_DEFAULT_AXIS_ADDR, .mask = ST_SENSORS_DEFAULT_AXIS_MASK, }, .fs = { .addr = ST_GYRO_2_FS_ADDR, .mask = ST_GYRO_2_FS_MASK, .fs_avl = { [0] = { .num = ST_GYRO_FS_AVL_250DPS, .value = ST_GYRO_2_FS_AVL_250_VAL, .gain = ST_GYRO_2_FS_AVL_250_GAIN, }, [1] = { .num = ST_GYRO_FS_AVL_500DPS, .value = ST_GYRO_2_FS_AVL_500_VAL, .gain = ST_GYRO_2_FS_AVL_500_GAIN, }, [2] = { .num = ST_GYRO_FS_AVL_2000DPS, .value = ST_GYRO_2_FS_AVL_2000_VAL, .gain = ST_GYRO_2_FS_AVL_2000_GAIN, }, }, }, .bdu = { .addr = ST_GYRO_2_BDU_ADDR, .mask = ST_GYRO_2_BDU_MASK, }, .drdy_irq = { .addr = ST_GYRO_2_DRDY_IRQ_ADDR, .mask = ST_GYRO_2_DRDY_IRQ_MASK, }, .multi_read_bit = ST_GYRO_2_MULTIREAD_BIT, .bootime = 2, }, }; static int st_gyro_read_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *ch, int *val, int *val2, long mask) { int err; struct st_sensor_data *gdata = iio_priv(indio_dev); switch (mask) { case IIO_CHAN_INFO_RAW: err = st_sensors_read_info_raw(indio_dev, ch, val); if (err < 0) goto read_error; return IIO_VAL_INT; case IIO_CHAN_INFO_SCALE: *val = 0; *val2 = gdata->current_fullscale->gain; return IIO_VAL_INT_PLUS_MICRO; default: return -EINVAL; } read_error: return err; } static int st_gyro_write_raw(struct iio_dev *indio_dev, struct iio_chan_spec const *chan, int val, int val2, long mask) { int err; switch (mask) { case IIO_CHAN_INFO_SCALE: err = st_sensors_set_fullscale_by_gain(indio_dev, val2); break; default: err = -EINVAL; } return err; } static ST_SENSOR_DEV_ATTR_SAMP_FREQ(); static ST_SENSORS_DEV_ATTR_SAMP_FREQ_AVAIL(); static ST_SENSORS_DEV_ATTR_SCALE_AVAIL(in_anglvel_scale_available); static struct attribute *st_gyro_attributes[] = { &iio_dev_attr_sampling_frequency_available.dev_attr.attr, &iio_dev_attr_in_anglvel_scale_available.dev_attr.attr, &iio_dev_attr_sampling_frequency.dev_attr.attr, NULL, }; static const struct attribute_group st_gyro_attribute_group = { .attrs = st_gyro_attributes, }; static const struct iio_info gyro_info = { .driver_module = THIS_MODULE, .attrs = &st_gyro_attribute_group, .read_raw = &st_gyro_read_raw, .write_raw = &st_gyro_write_raw, }; #ifdef CONFIG_IIO_TRIGGER static const struct iio_trigger_ops st_gyro_trigger_ops = { .owner = THIS_MODULE, .set_trigger_state = ST_GYRO_TRIGGER_SET_STATE, }; #define ST_GYRO_TRIGGER_OPS (&st_gyro_trigger_ops) #else #define ST_GYRO_TRIGGER_OPS NULL #endif int st_gyro_common_probe(struct iio_dev *indio_dev) { int err; struct st_sensor_data *gdata = iio_priv(indio_dev); indio_dev->modes = INDIO_DIRECT_MODE; indio_dev->info = &gyro_info; err = st_sensors_check_device_support(indio_dev, ARRAY_SIZE(st_gyro_sensors), st_gyro_sensors); if (err < 0) goto st_gyro_common_probe_error; gdata->multiread_bit = gdata->sensor->multi_read_bit; indio_dev->channels = gdata->sensor->ch; indio_dev->num_channels = ST_SENSORS_NUMBER_ALL_CHANNELS; gdata->current_fullscale = (struct st_sensor_fullscale_avl *) &gdata->sensor->fs.fs_avl[0]; gdata->odr = gdata->sensor->odr.odr_avl[0].hz; err = st_sensors_init_sensor(indio_dev); if (err < 0) goto st_gyro_common_probe_error; if (gdata->get_irq_data_ready(indio_dev) > 0) { err = st_gyro_allocate_ring(indio_dev); if (err < 0) goto st_gyro_common_probe_error; err = st_sensors_allocate_trigger(indio_dev, ST_GYRO_TRIGGER_OPS); if (err < 0) goto st_gyro_probe_trigger_error; } err = iio_device_register(indio_dev); if (err) goto st_gyro_device_register_error; return err; st_gyro_device_register_error: if (gdata->get_irq_data_ready(indio_dev) > 0) st_sensors_deallocate_trigger(indio_dev); st_gyro_probe_trigger_error: if (gdata->get_irq_data_ready(indio_dev) > 0) st_gyro_deallocate_ring(indio_dev); st_gyro_common_probe_error: return err; } EXPORT_SYMBOL(st_gyro_common_probe); void st_gyro_common_remove(struct iio_dev *indio_dev) { struct st_sensor_data *gdata = iio_priv(indio_dev); iio_device_unregister(indio_dev); if (gdata->get_irq_data_ready(indio_dev) > 0) { st_sensors_deallocate_trigger(indio_dev); st_gyro_deallocate_ring(indio_dev); } iio_device_free(indio_dev); } EXPORT_SYMBOL(st_gyro_common_remove); MODULE_AUTHOR("Denis Ciocca <denis.ciocca@st.com>"); MODULE_DESCRIPTION("STMicroelectronics gyroscopes driver"); MODULE_LICENSE("GPL v2"); |